Nbar

[ehad]

لطفا کمک کنید من به جواب Nbar برسم A=[0 1 0 0;0 0 2.3379 0;0 0 0 1;9.8 0.1 0 0] B=[0;2.399;0;0] C = [0 0 0 1;0 0 1 0] D=0 Q=C'*C R=1 K = lqr(A,B,Q,R) Nbar=rscale(A,B,C,D,K) SYS=ss(A-B*K,B*Nbar)

[ehad]

function[Nbar]=rscale(a,b,c,d,k)
% Given the single-input linear system:
% .
% x = Ax + Bu
% y = Cx + Du
% and the feedback matrix K,
%
% the function rscale(sys,K) or rscale(A,B,C,D,K)
% finds the scale factor N which will
% eliminate the steady-state error to a step reference
% for a continuous-time, single-input system
% with full-state feedback using the schematic below:
%
% /---------\
% R + u | . |
% ---> N --->() ---->| X=Ax+Bu |--> y=Cx ---> y
% -| \---------/
% | |
% |<---- K <----|
%
%8/21/96 Yanjie Sun of the University of Michigan
% under the supervision of Prof. D. Tilbury
%6/12/98 John Yook, Dawn Tilbury revised
error(nargchk(2,5,nargin));
% --- Determine which syntax is being used ---
nargin1 = nargin;
if (nargin1==2), % System form
[A,B,C,D] = ssdata(a);
K=b;
elseif (nargin1==5), % A,B,C,D matrices
A=a; B=b; C=c; D=d; K=k;
else error('Input must be of the form (sys,K) or (A,B,C,D,K)')
end;
% compute Nbar
s = size(A,1);
Z = [zeros([1,s]) 1];
N = inv([A,B;C,D])*Z';
Nx = N(1:s);
Nu = N(1+s);
Nbar=Nu + K*Nx;

[ehad]

باتوجه به داشتم فانکشن باز به جواب نرسیدم